Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

The extremal irregularity of connected graphs with given number of pendant vertices

Czechoslovak Mathematical Journal - The irregularity of a graph G = (V, E) is defined as the sum of imbalances ∣du ? dv∣ over all edges uv ∈ E, where du denotes the degree...     

基于模糊综合评判的大学数学考核方式改革

独立高校数学课程的开设旨在让学生掌握数学知识的基础上,提高数学应用能力.然而现行的考核方式存在重考试结果,轻学习过程等问题.从传统考核方式入手,指出其不足之处,基于模糊综合评判法建立新型评价体系和数学模型,通过试点运行验证了新的考核方式的可行性、客观性、合理性和科学性.